CN109048965B

CN109048965B - Device is got to interval adjustable clamp for robot

Info

Publication number: CN109048965B
Application number: CN201811166044.6A
Authority: CN
Inventors: 朱洪雷; 产文良; 林雁飞; 林景聪; 丁瑞昕
Original assignee: Guangzhou Institute of Technology
Current assignee: Shenzhen Youkong Technology Co ltd
Priority date: 2018-10-08
Filing date: 2018-10-08
Publication date: 2020-04-14
Anticipated expiration: 2038-10-08
Also published as: CN109048965A

Abstract

The invention relates to an interval adjustable clamping device for a robot, which comprises an adjusting driving device and clamping devices oppositely arranged on the left and right sides, wherein each clamping device comprises connecting blocks arranged along the front and back directions, an upper connecting shaft and a lower connecting shaft are arranged between the two connecting blocks, two ends of the upper connecting shaft and two ends of the lower connecting shaft are respectively and rotatably connected to the connecting blocks on one side where the upper connecting shaft and the lower connecting shaft are located, a plurality of grabbing devices are arranged between the two connecting blocks, the grabbing devices are respectively sleeved on the upper connecting shaft and the lower connecting shaft and are respectively and rotatably matched with the upper connecting shaft and the lower connecting shaft, a connecting support is further arranged between the two clamping devices, an upper connecting support and a lower connecting support rod are respectively hinged to the connecting support and correspond to the upper connecting shaft and the lower connecting shaft, the clamping. The invention can adjust different distances between the two clamping devices at the clamping position and the unloading position so as to meet different clamping requirements, and has simple structure and convenient use.

Description

Device is got to interval adjustable clamp for robot

Technical Field

The invention relates to a clamp, in particular to a distance adjustable clamping device for a robot.

Background

In an industrial flow production line, products are taken out from the end of the production line and then put into corresponding packaging boxes. At present, in order to improve efficiency, a robot is generally used for operation, namely a mechanical arm of the robot clamps a product. The packing box is put into to the product, adopt the mode of arranging with great ease usually, the arm of adoption at present, can only single row put into the packing box with the product in, and the product is in production, can have many assembly line simultaneous operation condition, interval between two adjacent assembly lines is greater than the range interval of two adjacent rows of products in the packing box, conventional arm can't adjust this interval, or adopt the clamp of single row many times to get and place, will lead to the product to pack inefficiency like this, or adopt more arm orders to operate, will increase the cost undoubtedly like this.

Disclosure of Invention

In view of the above problems in the prior art, the present invention aims to: the invention provides a distance adjustable clamping device suitable for different distance operations.

In order to achieve the purpose, the invention adopts the following technical scheme:

an interval adjustable clamping device for a robot comprises an adjusting driving device and clamping devices which are oppositely arranged left and right, wherein each clamping device comprises connecting blocks which are oppositely arranged along the front and back direction, an upper connecting shaft and a lower connecting shaft are arranged between the two connecting blocks at intervals up and down and extend along the front and back direction, the two ends of the upper connecting shaft and the two ends of the lower connecting shaft are respectively and rotatably connected to the connecting blocks on one side where the upper connecting shaft and the lower connecting shaft are arranged, a plurality of grabbing devices are arranged between the two connecting blocks along the front and back direction at intervals, connecting holes are respectively formed in the grabbing devices and correspond to the positions of the upper connecting shaft and the lower connecting shaft, the grabbing devices are respectively sleeved on the upper connecting shaft and the lower connecting shaft through the connecting holes and are respectively and rotatably matched with the upper connecting shaft and the lower connecting shaft, a connecting support is further arranged between the two clamping devices, an upper connecting support is, the other end of the upper connecting support and the position corresponding to each gripping device are respectively provided with a U-shaped connecting seat I, two side plates on the U-shaped connecting seat I are provided with mounting holes I which are coaxially arranged along the opposite direction, the U-shaped connecting seat I is sleeved on the upper connecting shaft through the mounting holes I and is in running fit with the upper connecting shaft, the two side plates on the U-shaped connecting seat I are respectively positioned at the two sides of the corresponding gripping device along the length direction of the upper connecting shaft so as to limit the movement of the gripping device along the length direction of the upper connecting shaft, the bottom surface of the connecting support is concavely provided with a sliding hole along the vertical direction, the bottom of the connecting support is provided with a sliding rod, the length of the sliding rod is greater than that of the sliding hole, the upper end of the sliding rod is inserted into the sliding hole and can be in running fit with the sliding hole along the length direction, the lower end of the sliding rod and one side facing to the two, the other end of lower connecting branch rotates to be connected under on the connecting axle, adjusts drive arrangement fixed connection and on arbitrary connecting block, adjusts drive arrangement and has one can follow the telescopic link that left right direction goes on stretching out and drawing back, the distal end of telescopic link and the corresponding connecting block fixed connection of adjusting drive arrangement place connecting block along its left right direction, it can move along left right direction with the drive clamp device through the stretching out and drawing back of telescopic link to adjust drive arrangement.

Further, grabbing device includes the trachea of vertical setting, and tracheal upper end sealing connection has last connector, and the sucking disc that communicates with the endotracheal cavity is installed to tracheal lower extreme, and just towards two on the tracheal pipe shaft the clamp get the device relative one side on fixedly connected with lower connector, two the connecting hole is located connector and lower connector respectively, just towards two on the tracheal pipe shaft the clamp get the device mutually on one side of the back of the body fixedly connected with the suction nozzle of endotracheal cavity intercommunication.

Furthermore, a hinged mounting block is formed on a protrusion at the lower end of the sliding rod, a hinged shaft II penetrates through the hinged mounting block and is in running fit with the hinged mounting block, a U-shaped connecting seat II is formed on one end of the lower connecting support rod close to the sliding rod in a protruding mode, mounting holes II which are coaxially arranged are formed in two side plates on the U-shaped connecting seat II along the opposite direction of the side plates, the U-shaped connecting seat II is sleeved on the hinged shaft II through the mounting holes II and is in running fit with the hinged shaft II, the two side plates on the U-shaped connecting seat II are respectively located on two sides of the hinged mounting block along the length direction of the hinged shaft II so as to limit the movement of the hinged mounting block along the length direction of the hinged shaft II, a U-shaped connecting seat III is formed on one end of the lower connecting support rod close to the sliding rod in a protruding mode, and mounting holes III which are coaxially, u-shaped connecting seat III passes through III suits of mounting hole on II and rather than normal running fit of hinge, and two curb plates on the U-shaped connecting seat III are located II edges of U-shaped connecting seat respectively II edges of the both sides of II length direction of hinge with can follow II length direction of hinge removes and carries on spacingly, two stop device are installed respectively in II outsides that just are located two curb plates on the U-shaped connecting seat on the hinge II, and two stop device can follow III of U-shaped connecting seat II length direction of hinge remove and carry on spacingly.

Further, stop device is the suit and is in the stop collar on the hinge II, along its radial direction and be vertical wearing to be equipped with a fixing bolt on the stop collar, on the hinge II and the position that corresponds fixing bolt wear to be equipped with the bolt via hole that can make fixing bolt pass, and the head one end screw-thread fit who just keeps away from fixing bolt on fixing bolt's the screw rod has fixation nut.

Further, the both ends of hinge II are spacing end, and spacing end is including setting up II epaxial two of hinge are parallel to each other and with the spacing face that II central lines of hinge parallel, and the distance between two spacing faces is less than the diameter of hinge II, the hole of stop collar includes coaxial and the suit hole and the spacing hole that the intercommunication set up, and the cross sectional shape in spacing hole is unanimous with the cross sectional shape of spacing end, stop collar suit is in on the hinge II and can be in through the hole terminal surface butt between suit hole and the spacing hole in order to right on the terminal surface between hinge II and the spacing end the stop collar is installed and is fixed a position.

Furthermore, two mounting surfaces which are parallel to each other and parallel to the center line of the limiting sleeve are arranged on the sleeve body of the limiting sleeve, the fixing bolt is mounted on the mounting surfaces, and the center line of the fixing bolt is perpendicular to the mounting surfaces.

Compared with the prior art, the invention has at least the following advantages: the invention can adjust different distances between the two clamping devices at the clamping position and the unloading position so as to meet different clamping requirements, and has simple structure and convenient use.

Drawings

FIG. 1 is a schematic three-dimensional structure of the present invention;

fig. 2 is a schematic view of the connection structure of the lower connecting leg in the present invention.

Detailed Description

The present invention is described in further detail below.

Referring to fig. 1 and 2, the space adjustable clamping device for the robot comprises an adjusting driving device 1 and clamping devices oppositely arranged left and right, wherein each clamping device comprises connecting blocks 2 oppositely arranged in the front-back direction, an upper connecting shaft 3 and a lower connecting shaft 4 are arranged between the two connecting blocks 2 at intervals up and down and extend in the front-back direction, two ends of the upper connecting shaft 3 and two ends of the lower connecting shaft 4 are respectively and rotatably connected to the connecting blocks 3 on one side where the upper connecting shaft is arranged, a plurality of clamping devices are arranged between the two connecting blocks 3 at intervals in the front-back direction, connecting holes are respectively formed in the positions, corresponding to the upper connecting shaft 3 and the lower connecting shaft 4, of the clamping devices, the clamping devices are respectively sleeved on the upper connecting shaft 3 and the lower connecting shaft 4 through the connecting holes and are respectively and rotatably matched with the upper connecting shaft 3 and the lower connecting shaft 4, a connecting support 5 is also arranged between, one end of an upper connecting support 6 is hinged and connected to a connecting support 5 through a hinge shaft I7 extending along the front-back direction, the other end of the upper connecting support 6 and the position corresponding to each grabbing device are respectively provided with a U-shaped connecting seat I, two side plates on the U-shaped connecting seat I are provided with mounting holes I coaxially arranged along the opposite direction, the U-shaped connecting seat I is sleeved on an upper connecting shaft 3 through the mounting holes I and is in rotating fit with the upper connecting shaft I, the two side plates on the U-shaped connecting seat I are respectively positioned at the two sides of the corresponding grabbing device along the length direction of the upper connecting shaft 3 so as to limit the movement of the grabbing device along the length direction of the upper connecting shaft 3, the bottom surface of the connecting support 5 is concavely provided with a sliding hole along the vertical direction, the bottom of the connecting support 5 is provided with a sliding rod 8, the length of the sliding rod 8 is greater than that of the sliding hole, the lower extreme of slide bar 8 and the one side of pressing from both sides the device of getting towards two clamps respectively still is provided with down connecting rod 9, the one end of connecting rod 9 is connected on slide bar 8 through the hinge II 10 articulated connection that extends along the fore-and-aft direction down, the other end of connecting rod 9 rotates to be connected on connecting axle 4 down, adjust drive arrangement 1 fixed connection on arbitrary connecting block 2, it can follow the telescopic link that left right direction stretches out and draws back to adjust drive arrangement 1, the distal end of telescopic link and adjust drive arrangement 1 place connecting block 2 along its left right direction corresponding connecting block 2 fixed connection, it can move along left right direction with the device is got to the drive clamp through the flexible of telescopic link to adjust drive arrangement 1.

In the embodiment, grabbing device includes the trachea 11 of vertical setting, and the upper end sealing connection of trachea 11 has the connector, and sucking disc 12 with trachea 11 inner chamber intercommunication is installed to the lower extreme of trachea 11, just towards two on trachea 11's the pipe shaft press from both sides and get fixedly connected with lower connector, two on the relative one side of device, the connecting hole is located connector and lower connector respectively, just towards two on trachea 11's the pipe shaft press from both sides and get inlet nozzle 20 that fixedly connected with and trachea 11 inner chamber intercommunication on the device one side that carries on the back mutually.

In the embodiment, a hinged mounting block is formed on a protrusion at the lower end of the slide rod 8, the hinged shaft II 10 penetrates through the hinged mounting block and is in running fit with the hinged mounting block, one end of the lower connecting support rod 9 close to the slide rod 8 is convexly formed with a U-shaped connecting seat II 13, two side plates on the U-shaped connecting seat II 13 are provided with mounting holes II which are coaxially arranged along the opposite direction, the U-shaped connecting seat II 13 is sleeved on the hinged shaft II 10 through the mounting holes II and is in running fit with the hinged shaft II 10, two side plates on the U-shaped connecting seat II 13 are respectively positioned on two sides of the hinged mounting block along the length direction of the hinged shaft II 10 so as to limit the movement of the hinged mounting block along the length direction of the hinged shaft II 10, another end of the lower connecting support rod 9 close to the slide rod 8 is convexly formed with a U-shaped connecting seat III 14, two side plates on the U-shaped connecting seat III 14 are provided, u-shaped connecting seat III 14 passes through III suits of mounting hole on II 10 of hinge and rather than normal running fit, two curb plates on III 14 of U-shaped connecting seat are located II 13 edges of U-shaped connecting seat respectively II 10 length direction's of hinge both sides are in order to follow II 13 of U-shaped connecting seat II 10 length direction of hinge removes and carries on spacingly, on II 10 of hinge and the outside that is located two curb plates on III 14 of U-shaped connecting seat installs stop device respectively, and two stop device can follow III 14 of U-shaped connecting seat II 10 length direction of hinge removes and carries on spacingly.

In the embodiment, stop device is the suit and is in stop collar 15 on hinge II 10, and the last edge of stop collar 15 is its radial direction and is vertical to be worn to be equipped with a fixing bolt 16, on hinge II 10 and corresponding fixing bolt 16 the position wear to be equipped with the bolt via hole that can make fixing bolt 16 pass, and the screw rod of fixing bolt 16 is gone up and is kept away from the head one end screw-thread fit of fixing bolt 16 and is had fixation nut 17.

In the embodiment, two ends of the second hinge shaft 10 are limit ends, each limit end comprises two limit surfaces 18 which are arranged on the shaft body of the second hinge shaft 10 and are parallel to each other and parallel to the central line of the second hinge shaft 10, the distance between the two limit surfaces 18 is smaller than the diameter of the second hinge shaft 10, an inner hole of the limit sleeve 15 comprises a sleeved hole and a limit hole which are coaxial and communicated with each other, the cross section of the limit hole is consistent with that of the limit end, and the limit sleeve 15 is sleeved on the second hinge shaft 10 and can abut against the end face of the inner hole between the sleeved hole and the limit hole to install and position the limit sleeve 15.

In an embodiment, the body of the position limiting sleeve 15 is provided with two mounting surfaces 19 which are parallel to each other and parallel to the central line of the position limiting sleeve 15, the fixing bolt 16 is mounted on the mounting surfaces 19, and the central line of the fixing bolt 16 is perpendicular to the mounting surfaces 19.

When the clamping device is used, the two clamping devices are correspondingly driven to move outwards by adjusting the extension of the telescopic rod of the driving device, the upper connecting support rotates outwards in the moving process, the sliding rod slides downwards, the lower connecting support rotates outwards, the clamping devices correspondingly rotate on the upper connecting shaft and the lower connecting shaft, the shape cannot be changed, the clamping posture is kept, and finally the distance between the two clamping devices is adjusted to meet the use requirement. On the contrary, the distance between the two clamping devices can be shortened by adjusting the retraction of the telescopic rod of the driving device.

Lower connecting rod hinged joint is in the bottom of slide bar, and its articulated position is located two clamps and gets between the device, gets the in-process of device relative movement at two clamps, if two lower connecting rod adopt two hinge respectively to install, two hinge are left right direction interval and set up, so the structure volume is great relatively, will cause the interference to getting the device to getting, influences two minimum spacing distance of getting the device. If the two hinge shafts are coaxially arranged in the front-back direction, the corresponding mounting structure is relatively complex. In the invention, two lower connecting support rods are hinged with the sliding rod through a hinge shaft, and the two lower connecting support rods can be limited between adjacent lower connecting support rods, when in installation, a through hole for the hinge shaft II to pass through on the hinged installation block, an installation hole II on the U-shaped connecting seat II and an installation hole III on the U-shaped connecting seat III are aligned, then the hinge shaft II sequentially passes through the through holes, and limiting devices are installed at two ends of the hinge shaft II, so that the installation is convenient, the size of the structural shape of the hinge shaft is reduced, and the interference influence on the clamping device is reduced.

In addition, the invention can also be provided with two adjusting driving devices which are respectively arranged on the two clamping devices, and in order to keep the balance of the whole equipment, the two clamping devices are respectively positioned on the connecting block at the front side and the connecting block at the rear side. The groove used for embedding the head of the fixing bolt is concavely arranged on the mounting surface and in a position corresponding to the head of the fixing bolt, and the shape of the cross section of the groove is consistent with that of the cross section of the head of the fixing bolt, so that the fixing bolt can be prevented from rotating when the fixing nut is screwed, and the operation is more convenient.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims

1. The utility model provides a device is got to interval adjustable clamp for robot which characterized in that: comprises an adjusting driving device and clamping devices which are oppositely arranged left and right, the clamping devices comprise connecting blocks which are oppositely arranged along the front and back direction, an upper connecting shaft and a lower connecting shaft are arranged between the two connecting blocks at intervals up and down and extend along the front and back direction, the two ends of the upper connecting shaft and the two ends of the lower connecting shaft are respectively and rotatably connected on the connecting block at one side of the upper connecting shaft, a plurality of gripping devices are arranged between the two connecting blocks along the front and back direction at intervals, connecting holes are respectively arranged on the gripping devices and correspond to the positions of the upper connecting shaft and the lower connecting shaft, the gripping devices are respectively sleeved on the upper connecting shaft and the lower connecting shaft through the connecting holes and are respectively and rotatably matched with the upper connecting shaft and the lower connecting shaft, a connecting support is also arranged between the two clamping devices, an upper connecting support is respectively arranged towards one side of the, the other end of the upper connecting support and the position corresponding to each gripping device are respectively provided with a U-shaped connecting seat I, two side plates on the U-shaped connecting seat I are provided with mounting holes I which are coaxially arranged along the opposite direction, the U-shaped connecting seat I is sleeved on the upper connecting shaft through the mounting holes I and is in running fit with the upper connecting shaft, the two side plates on the U-shaped connecting seat I are respectively positioned at the two sides of the corresponding gripping device along the length direction of the upper connecting shaft so as to limit the movement of the gripping device along the length direction of the upper connecting shaft, the bottom surface of the connecting support is concavely provided with a sliding hole along the vertical direction, the bottom of the connecting support is provided with a sliding rod, the length of the sliding rod is greater than that of the sliding hole, the upper end of the sliding rod is inserted into the sliding hole and can be in running fit with the sliding hole along the length direction, the lower end of the sliding rod and one side facing to the two, the other end of lower connecting branch rotates to be connected under on the connecting axle, adjusts drive arrangement fixed connection and on arbitrary connecting block, adjusts drive arrangement and has one can follow the telescopic link that left right direction goes on stretching out and drawing back, the distal end of telescopic link and the corresponding connecting block fixed connection of adjusting drive arrangement place connecting block along its left right direction, it can move along left right direction with the drive clamp device through the stretching out and drawing back of telescopic link to adjust drive arrangement.

2. The pitch-adjustable gripping device for robots as claimed in claim 1, wherein: grabbing device includes the trachea of vertical setting, and tracheal upper end sealing connection has last connector, and the sucking disc that communicates with the endotracheal cavity is installed to tracheal lower extreme, and just towards two on the tracheal pipe shaft the clamp is got and is gone up fixedly connected with lower connector, two on the relative one side of device the connecting hole is located connector and lower connector respectively, and just towards two on the tracheal pipe shaft the clamp is got fixedly connected with and the suction nozzle of endotracheal cavity intercommunication on the one side that the device carried on the back mutually.

3. The pitch-adjustable gripping device for robots as claimed in claim 1, wherein: the lower end of the sliding rod is convexly provided with a hinged mounting block, the hinged shaft II penetrates through the hinged mounting block and is in running fit with the hinged mounting block, one end of the lower connecting support rod close to the sliding rod is convexly provided with a U-shaped connecting seat II, two side plates on the U-shaped connecting seat II are provided with mounting holes II which are coaxially arranged along the opposite direction, the U-shaped connecting seat II is sleeved on the hinged shaft II through the mounting holes II and is in running fit with the hinged shaft II, the two side plates on the U-shaped connecting seat II are respectively positioned at two sides of the hinged mounting block along the length direction of the hinged shaft II so as to limit the movement of the hinged mounting block along the length direction of the hinged shaft II, the other end of the lower connecting support rod close to the sliding rod is convexly provided with a U-shaped connecting seat III, and two side plates on the U-shaped connecting seat III are provided with mounting holes, u-shaped connecting seat III passes through III suits of mounting hole on II and rather than normal running fit of hinge, and two curb plates on the U-shaped connecting seat III are located II edges of U-shaped connecting seat respectively II edges of the both sides of II length direction of hinge with can follow II length direction of hinge removes and carries on spacingly, two stop device are installed respectively in II outsides that just are located two curb plates on the U-shaped connecting seat on the hinge II, and two stop device can follow III of U-shaped connecting seat II length direction of hinge remove and carry on spacingly.

4. The pitch-adjustable gripping device for robots as claimed in claim 3, wherein: the limiting device is a limiting sleeve sleeved on the hinge shaft II, a fixing bolt vertically penetrates through the limiting sleeve along the radial direction of the limiting sleeve, a bolt through hole capable of enabling the fixing bolt to penetrate through is formed in the position, corresponding to the fixing bolt, of the hinge shaft II, and a fixing nut is matched with one end of the head, far away from the fixing bolt, of a screw rod of the fixing bolt in a threaded mode.

5. The pitch-adjustable gripping device for robots as claimed in claim 4, wherein: the both ends of hinge II are spacing end, and spacing end is including setting up II epaxial two of hinge are parallel to each other and with the spacing face that II central lines of hinge parallel, and the distance between two spacing faces is less than the diameter of hinge II, the hole of stop collar includes coaxial and the suit hole and the spacing hole that the intercommunication set up, and the cross sectional shape in spacing hole is unanimous with the cross sectional shape of spacing end, the stop collar suit is in on the hinge II and can be in through the hole terminal surface butt between suit hole and the spacing hole in order to right on the terminal surface between hinge II and the spacing end the position is installed to the stop collar.

6. The pitch-adjustable gripping device for robots as claimed in claim 4, wherein: the limiting sleeve is characterized in that two mounting surfaces which are parallel to each other and parallel to the central line of the limiting sleeve are arranged on the sleeve body of the limiting sleeve, the fixing bolt is mounted on the mounting surfaces, and the central line of the fixing bolt is perpendicular to the mounting surfaces.